Design and Dimensional Optimization of Legged Structures for Construction Robots

TL;DR

This paper introduces a novel design and optimization framework for legged construction robots, enhancing their mobility in complex terrains through kinematic analysis, workspace optimization, and manipulability maximization.

Contribution

It presents the first multi-dimensional quantitative evaluation framework for leg motion performance tailored for construction environments, guiding structural design.

Findings

Optimized leg segment proportions for improved motion performance.

Introduced the concept of 'average manipulability' for leg design.

Validated design through virtual prototype simulations.

Abstract

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation. Inspired by ants in nature, this paper proposes a leg configuration design and optimization method tailored for construction scenarios, aiming to enhance the autonomous mobility of construction robots. This paper analyzes the full operational motion performance of the leg during both swing and stance phases. First, based on kinematic modeling and multi-dimensional workspace analysis, the concept of an "improved workspace" is introduced, and graphical methods are used to optimize the leg dimensions during the swing phase. Furthermore, a new concept of "average manipulability" is introduced based on the velocity Jacobian matrix, and numerical solutions are applied to obtain the leg segment ratio that maximizes manipulability. To overcome the difficulties associated with traditional analytical methods, virtual prototype simulations are conducted in ADAMS to explore the relationship between the robot body's optimal flexibility and leg segment proportions. In summary, the leg segment proportions with the best comprehensive motion performance are obtained. This study presents the first multi-dimensional quantitative evaluation framework for leg motion performance tailored for construction environments, providing a structural design foundation for legged construction robots to achieve autonomous mobility in complex terrains.